Transcript MR-J3-A - General introduction

FA-EBG
SERVO AND MOTIONS SYSTEMS
MARKET NEEDS
• High speed and high accuracy control for
machines
– Vibration suppression control at mechanical end
– Ultra high speed position control
• More downsizing
– Amplifier / motor downsizing
– Less wiring
• Tuning set-up and maintenance ability have
been improved
– New auto-tuning functionaility
– New maintenance functions
MELSERVO ROADMAP
１９８０
１９８５
１９９０
１９９５
・ Increase productivity ・ Maintenance free
Market
・Down-sizing
２０００
２００５
・Overseas standards ・Network ・Intelligence
diagnosis
・ FMS
requirements
・ High response
・Low noise
・Envelopment
・ Low cost
・Reduce wiring
・High performance
Developed to
MITSUBISHI original
technology in
advance of
servo/motion field
・ High speed / torque
・ All digital
Functionality
and
・ Wire less
・ Bus type
・ ｄーｑ axes control
performance
・ Model Adaptive Control
・ Real time Auto tuning
・ Serial bus SSCNET
・ 32-bit RISC CPU
・ Notch filter
・ Compact size
・ CE ,UL
・ High resolution encoder
・ Motor ID
Control
・ Advanced control
・ High density
・Machine Simulation
・ Robust to external
Force compensation
・ Smallest size Amplifier
J3
・ Original ＩＰＭ
・ Pulse train
J2S – J2M
H
・ General purpose
A
・Adaptive Oscillation
・Gain Search
・ Auto tuning
SA - SB
・Machine analyzer SW
・ ABS Encoder
J
J2
C
Vibration suppression
control
Linear AC servo motor
400V class
Open networks
DEVELOPMENT CONCEPT
Achieve to more capable performance easily for the
machine and downsizing the component
Easy to use
Maximum
perfomance
Competitor products
Yaskawa – Sigma III
Panasonic Minas - AIII
•
•
•
•
Operation / tuning
Machine performance
High-level auto-tuning
Advanced vibration suppression control
High performance servo motor
Evolutional configuration software
Performance and functionality
POSITION OF MR-J3
J3
J2-Super
50W 750W
3.5kW
7kW
55kW
110kW
ULTRA-SMALL SERVO MOTOR
•
•
•
•
Highest density coil by "joint-wrap" core method
Smallest new development encoder
IP65
The length (L) compared to HC series has been reduced by
23%
Possible to change the cable direction
- Either towards motor shaft or encoder
Smallest
in industry
Size
reduction
LOW COGGING TORQUE
SERVO MOTOR
HALF COGGING TORQUE
MORE STABLE MOTOR ROTATION
750W MOTOR
COGGING WAVEFORM
HC MOTOR
HF MOTOR
HIGH SPEED – HIGH TORQUE
4500rpm -> 6000rpm
Torque increase
J3
300%
Best in industry
J2S
100%
0
6000rpm
1000 2000 3000 4000 5000 6000
4500rpm
ENCODER RESOLUTION
(Pulse/rev)
J2
J2S
J3
Resolution
262144
100000
10000
131072
16384
J3 : 260k
Best in industry
8192
1999
2003
Smooth and high accurate operation with 260k ppr encoder
HIGH PERFORMANCE AMPLIFIER
MR-J3-A Series
INCREASED SPEED RESPONSE
900Hz !
Velocity speed-frequency
1000
800
Hz
600
400
J3
J2-Super
J2
200
0
1996
1998
2000
Board chart
-3dB
Response (dB)
2002
2004
ADVANCED CONTROL
VIBRATION SUPPRESSION CONTROL
・Suppress the mechanical vibration by auto-tuning
Motor position
1000
1000
速度指令[rad/s]
位置ﾄﾞﾙｰﾌﾟ[um]
INP(±10um)
500
0
0
-500
-500
-1000
0
0.5
1
1.5
2
2.5
time[sec]
3
3.5
4
4.5
5
1000
速度指令[rad/s]
位置ﾄﾞﾙｰﾌﾟ[um]
INP(±10um)
500
-1000
In-position signal
0
0.5
1
1.5
2
2.5
time[sec]
3
3.5
4
5
1000
速度指令[rad/s]
負荷側ﾄﾞﾙｰﾌﾟ[um]
500
速度指令[rad/s]
負荷側ﾄﾞﾙｰﾌﾟ[um]
500
0
0
-500
-500
-1000
4.5
0
0.5
1
1.5
2
2.5
time[sec]
3
3.5
4
4.5
5
Machine will vibrate with
High gain setting
-1000
0
0.5
1
1.5
2
2.5
time[sec]
3
3.5
4
4.5
Machine position
5
Tuning on
Eliminate vibration  High response
ADVANCED CONTROL
ADAPTIVE FILTER II
• Suppresses vibration at high gain settings
• Frequency range increases – about 4.5kHz
速度 [r/min]
Experimental Result of J3 Auto-Notch, FixedplntAatu12SmallAdapting.mat, 20-May-2003
2000
wm
wmref
1000
0
-1000
-2000
0
0.5
1
0
0.5
1
200
Appling patent
1.5
2
2.5
時間 [sec]
Tsample=0.002[sec], Ttotal=4[sec]
3
3.5
3
3.5
トルク [%]
100
0
-100
-200
1.5
2
時間 [sec]
2.5
Auto-tuning ON
ULTRA COMPACT SIZE AMPLIFER
J2S
J3
400W
168mm
70mm
118cm2
40mm
67cm2
SMALLEST
SET-UP CONFIGURATION SOFTWARE
MR-CONFIGURATOR - MRZJW3-SETUP211E
• USB 1.1
• Easy to set parameters
• Set-up support and diagnostics
– Simple to tune
• Simple – easy to use auto-tuning
– High level of tuning
• Graphic function – Graphic history function / Speed-Torque
curve
• Machine Analyser II – Wide frequency range / more accurate
– Diagnostics
• Amplifier diagnostics – External interface for self diagnostics
USB 1.1 INTERFACE
• USB 1.1 interface as standard
– Fast response
– Read time of graphic data : 20 times faster
Improve setting stage period
USB
A
USB
mini-B5
USB1.1
SIMPLE AUTO-TUNING SCREEN
31 step
response
gain autotuning
Filter
Auto-tuning
Suppress vibration auto-tuning
GRAPHIC FUNCTIONS
3 channel oscilloscope
Command/Droop/Torque
at same time monitoring
History function
(Overwrite function)
Settling/mechanical
characteristics confirmation
Sampling data : 0.4ms/30000points 12sec (J2S :
0.8ms/1024points)
MACHINE ANALYSER II
• More accurate mechanical characteristics
• Frequency range : 10Hz – 1kHz => 3Hz – 4.5kHz
• New algorithm
J2-Super (151E software)
J3 (211E software)
More
accurate